where is the "camera_marker" defined? about easy_handeye HOT 5 CLOSED

from easy_handeye.

Hi @superbigzz,

That is just a place holder for the actual tf frame published by the ROS driver of your tracking system. Since it is always different, all the launch files of easy_handeye allow you to specify the tf frames of interest via arguments. You can take a look at the readme to see how to include the launch files in your own to calibrate and then use the calibration.

from easy_handeye.

Hi @superbigzz,

That is just a place holder for the actual tf frame published by the ROS driver of your tracking system. Since it is always different, all the launch files of easy_handeye allow you to specify the tf frames of interest via arguments. You can take a look at the readme to see how to include the launch files in your own to calibrate and then use the calibration.

oh, got it. Thanks a lot!

from easy_handeye.

Hello I am confused with this part:

<arg name="tracking_base_frame" value="/optical_origin"/>
<arg name="tracking_marker_frame" value="/optical_target"/>

Where are tracking base frame and tracking marker frame are coming from?
Since the chessboard or the aruco are on the table, we should somehow estimate their transforms/poses?

from easy_handeye.

Hello @mbajlo,

those are the names of the tf frames that your tracking software respectively uses for your camera and marker. These are either configured by you in the launch parameters of the ROS package that you are using to do the tracking, or documented by its developers if they are not configurable.

You don't need to estimate the initial pose. You just have to make sure that the tracking system and its software are properly calibrated and configured (intrinsic camera calibration, stereo camera calibration, marker size and ID, etc.)

from easy_handeye.